Open AccessContinuous finite‐time control for uncertain robot manipulators with integral sliding mode
Author(s) -
Zhang Liyin,
Liu Linzhi,
Wang Zeng,
Xia Yuquan
Publication year - 2018
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2017.1361
Subject(s) - control theory (sociology) , integral sliding mode , sliding mode control , parametric statistics , terminal sliding mode , observer (physics) , controller (irrigation) , state observer , tracking (education) , computer science , stability (learning theory) , robot manipulator , control engineering , trajectory , robot , engineering , control (management) , mathematics , artificial intelligence , nonlinear system , physics , quantum mechanics , psychology , pedagogy , statistics , machine learning , astronomy , agronomy , biology
This study investigates a continuous sliding mode tracking problem for robot manipulators under the presence of parametric uncertainty and external disturbances. A chattering‐free integral terminal sliding mode control scheme is first proposed by integrating an integral terminal sliding surface with an observer. Lypaunov stability theory is employed to prove the global finite‐time tracking of robotic system. The appealing advantages of the proposed controller are that it is easy to implement with the continuous sliding mode control featuring chattering‐free, fast transient and high steady‐state tracking precision. Extensive simulations on two degree of freedoms (DOFs) are presented to demonstrate the effectiveness and improved performance of the proposed approach.